Design of a Trapezoidal Motion Profile to the Physical Implementation of a 3P Cartesian Robot Prototype

Abstract

This paper presents a detailed overview of a 3P cartesian robotic system, represented in a scaled automated car park prototype, employing the 8 bits microcontroller PIC18F4550, the process started with the development of the used trapezoidal profile, continuing with its later discretization and its parameterization in order to implement it to the microcontroller. Secondly, it is shown the algorithm and the considerations considered during the programming of the dispositive with the XC8® compiler. Finally, it is made a comparative between the advantages of employing a trapezoidal profile and the possible enhancements to be implemented according to the available hardware in such a way that it can be used in academic environments especially during the designs of motion profiles for prototypes with limited computational capacity